Control method of treatment device, treatment system and medium

Abstract

The invention discloses a control method of a treatment device, a treatment system and a medium, and relates to the technical field of medical instruments.The focus of a treatment head coincides with the central point of an image detected by a first detection head, and then a first section image, detected by the first detection head, of a to-be-treated object is obtained; constructing a two-dimensional coordinate system for the first cross-sectional image, sketching a treatment area in the first cross-sectional image, and generating a treatment path in the treatment area; determining the target position of the focus of the treatment head in the two-dimensional coordinate system; and driving the second moving module according to the target position and the treatment path to enable the focus of the treatment head to move along the treatment path. The focus of the treatment head coincides with the central point of the image detected by the first detection head to obtain a first cross-section image detected by the first detection head, the focus and the treatment area are in the same plane, and when the focus moves along the treatment path in the treatment area, the focus of the treatment head is always located on the to-be-treated object; the irradiation range can be widened by moving the focus along the treatment path in the treatment area.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a control method, a treatment system and a medium for a treatment device. Background Art

[0002] Non-invasive treatment methods are widely used in cranial nerves, arthritis, pet sterilization and tumor treatment. Currently available treatment devices use focused ultrasound to irradiate specific areas of the brain (such as specific blood vessels, specific brain tissues or neural circuits, etc.), inflamed areas (such as joints, synovium or cartilage, etc.), reproductive organs (such as sperm eggs, fallopian tubes, ovaries or testicles, etc.) and tumors.

[0003] Taking tumor treatment as an example, after the prodrug is injected into the body of the organism to be treated (human or animal), part of the prodrug will reach the tumor location and be distributed in all areas of the tumor. It is necessary to use focused ultrasound to activate it into an active drug, thereby killing the tissue cells of the tumor and achieving the purpose of treating the tumor. At present, the tumor of the object to be treated is located in the area to be detected, and the detection head is used to scan the area to be detected to see if an image containing the tumor can be obtained. If it is obtained, the treatment head is used to aim at the area to be detected to emit focused ultrasound. However, this method only performs fixed-point irradiation on the object to be treated (tumor, joint or brain tissue, etc.), and cannot guarantee that the focus of the treatment head is accurately positioned on the object to be treated. The normal tissue next to the object to be treated may also be irradiated. In addition, the irradiation range of fixed-point irradiation is limited, resulting in most prodrugs not being well activated and poor treatment effects.

[0004] Therefore, how to increase the irradiation range and ensure that the focus of the treatment head is on the object to be treated as much as possible is a problem that needs to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present application is to provide a control method, a treatment system and a medium for a treatment device, which are used to solve the problem that the focus of the treatment head cannot be guaranteed to be on the object to be treated and the irradiation range of fixed-point irradiation is limited.

[0006] In order to solve the above technical problems, the present application provides a control method for a treatment device, the treatment device comprising a first detection head, a treatment head, a first movable module connected to the first detection head, and a second movable module connected to the treatment head, the control method comprising:

[0007] After the focus of the treatment head coincides with the center point of the image detected by the first detection head, acquiring a first cross-sectional image of the object to be treated detected by the first detection head;

[0008] constructing a two-dimensional coordinate system for the first cross-sectional image, outlining a treatment area in the first cross-sectional image, and generating a treatment path in the treatment area;

[0009] Determining a target position of the focus of the treatment head in the two-dimensional coordinate system;

[0010] The second moving module is driven according to the target position and the treatment path, so that the focus of the treatment head moves along the treatment path.

[0011] In a feasible embodiment, obtaining a first cross-sectional image of the object to be treated detected by the first detection head includes:

[0012] Determining the relative position of the first detection head and the treatment head;

[0013] Simultaneously driving the first moving module and the second moving module to make the first detection head and the treatment head move synchronously and linearly in a first target direction while keeping the relative positions unchanged; wherein the first target direction is perpendicular to the cross section of the object to be treated corresponding to the first cross-sectional image;

[0014] Acquire a cross-sectional image detected by the first detection head in real time, and when the treatment area in the cross-sectional image is smaller than a first preset area, suspend the first moving module and the second moving module at the same time;

[0015] The moving step length of the first detection head is set each time, and the first moving module and the second moving module are continuously driven, so that the first detection head and the treatment head move synchronously and linearly along the second target direction with the moving step length; wherein the second target direction and the first target direction are two opposite directions on the same straight line;

[0016] The first movable module and the second movable module are controlled to stay for a preset time period after each movement of the moving step, and the first cross-sectional image detected by the first detection head is acquired during the preset time period, until the treatment area in the first cross-sectional image detected by the first detection head is smaller than a second preset area, and the first movable module and the second movable module are paused at the same time.

[0017] In a feasible embodiment, driving the second moving module according to the target position and the treatment path so that the focus of the treatment head moves along the treatment path includes:

[0018] Generate a breathing follow-up frame in the two-dimensional coordinate system; wherein the breathing follow-up frame includes a target contour of the treatment area in the first cross-sectional image;

[0019] Determining the centroid coordinates of the treatment area according to the target contour in the breathing following frame;

[0020] Determine the change in the center of mass position of the treatment area according to the center of mass coordinates at each time point;

[0021] Correcting the treatment path in real time according to the change in the center of mass position;

[0022] The second moving module is driven according to the target position and the corrected treatment path, so that the focus of the treatment head moves along the corrected treatment path.

[0023] In a feasible embodiment, determining the centroid coordinates of the treatment area according to the target contour in the breathing following frame includes:

[0024] Converting the image in the breathing following box into a grayscale image;

[0025] Converting the grayscale image into a binary image;

[0026] Extracting the target contour in the binary image;

[0027] Calculate the first-order moment of the binary image according to the target contour;

[0028] The centroid coordinates of the treatment area are determined according to the first-order moment.

[0029] In a feasible embodiment, the treatment device further includes a second detection head, and when driving the second moving module according to the target position and the treatment path, it also includes:

[0030] Acquire in real time a second cross-sectional image of the object to be treated detected by the second detection head; wherein the cross-sectional area of ​​the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-sectional area of ​​the object to be treated corresponding to the first cross-sectional image;

[0031] determining a displacement of the object to be treated in a third target direction according to the second cross-sectional image, wherein the third target direction is perpendicular to a cross-sectional area of ​​the object to be treated corresponding to the first cross-sectional image;

[0032] The second moving module is driven according to the displacement to move the treatment head along the third target direction.

[0033] In a feasible embodiment, generating a treatment path in the treatment area includes:

[0034] Determine a treatment line distance, and generate a plurality of mutually parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the treatment line distance; wherein the endpoints of both ends of each treatment line segment are located on the contour of the treatment area;

[0035] The treatment time of each treatment line segment is set.

[0036] In a feasible embodiment, before setting the treatment time of each treatment line segment, the method further includes:

[0037] If the number of treatment line segments in the treatment area is greater than a first set value, increase the treatment line distance, and regenerate a plurality of mutually parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the increased treatment line distance;

[0038] If the number of treatment line segments in the treatment area is less than a second set value, the treatment line distance is reduced, and a plurality of parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area according to the reduced treatment line distance.

[0039] The present application also provides a treatment system, comprising: a first detection head, a treatment head, a first moving module connected to the first detection head, a second moving module connected to the treatment head, and a control device;

[0040] The first detection head is used to detect a first cross-sectional image of the object to be treated, the treatment head is used to irradiate the object to be treated, the control device is respectively connected to the first detection head, the treatment head, the first movable module and the second movable module, and the control device is used in the steps of the control method of the treatment device.

[0041] In a feasible embodiment, the invention further comprises a second detection head and a third movable module connected to the second detection head, wherein the third movable module is connected to the control device, and the second detection head is used to detect a second cross-sectional image of the object to be treated, wherein the cross-sectional area of ​​the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-sectional area of ​​the object to be treated corresponding to the first cross-sectional image in the object to be treated;

[0042] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the treatment device are implemented.

[0043] The present application provides a control method for a treatment device, the treatment device includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head, the control method includes: after the focus of the treatment head coincides with the center point of the image detected by the first detection head, obtaining a first cross-sectional image of the object to be treated detected by the first detection head; constructing a two-dimensional coordinate system for the first cross-sectional image, outlining the treatment area in the first cross-sectional image, and generating a treatment path in the treatment area; determining the target position of the focus of the treatment head in the two-dimensional coordinate system; driving the second moving module according to the target position and the treatment path, so that the focus of the treatment head moves along the treatment path. After the focus of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated detected by the first detection head is obtained, the focus and the treatment area of ​​the object to be treated are in the same plane, when the focus moves along the treatment path in the treatment area, the focus of the treatment head is always located on the object to be treated, effectively avoiding the normal tissue next to the object to be treated from being irradiated, and the focus moves along the treatment path in the treatment area for treatment, which can increase the irradiation range, more prodrugs can be activated, and improve the treatment effect.

[0044] The beneficial effects of the therapeutic system and medium provided in the present application correspond to the methods, and the effects are as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 A flow chart of a control method for a treatment device provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram including a breathing follow-up frame provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of a treatment path in a treatment area provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the positional relationship between two detection heads and a treatment head provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of an embodiment of the present application including two detection heads, a treatment head and three mobile modules;

[0051] Figure 6A structural diagram of a treatment head and a second movable module provided in an embodiment of the present application;

[0052] Figure 7 A structural diagram of a second detection head and a third moving module provided in an embodiment of the present application;

[0053] Figure 8 A structural diagram of a treatment system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] The core of the present application is to provide a control method, a treatment system and a medium for a treatment device, which are used to increase the irradiation range and ensure that the focus of the treatment head is on the treatment object as much as possible.

[0056] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] Figure 1 A flow chart of a control method of a treatment device provided in an embodiment of the present application, such as Figure 1 As shown, a control method of a therapeutic device includes:

[0058] S10: After the focus of the treatment head coincides with the center point of the image detected by the first detection head, a first cross-sectional image of the object to be treated detected by the first detection head is acquired.

[0059] S11: constructing a two-dimensional coordinate system for the first cross-sectional image, outlining a treatment area in the first cross-sectional image, and generating a treatment path in the treatment area.

[0060] S12: Determine the target position of the focus of the treatment head in the two-dimensional coordinate system.

[0061] S13: driving the second moving module according to the target position and the treatment path, so that the focus of the treatment head moves along the treatment path.

[0062] The treatment device in the embodiment of the present application includes a first detection head, a treatment head, a first movable module connected to the first detection head, and a second movable module connected to the treatment head. The treatment device will be further introduced in the treatment system below. In order to improve the convenience of changing the position of the first detection head and the treatment head, the first movable module and the second movable module are both three-dimensional movable modules.

[0063] Before step S10, the treatment device is also initialized, specifically, all motors in the first moving module and the second moving module are moved to the zero position, which refers to the initial position set by all motors and the absolute position saved by all motors. If the position of the object to be treated is inaccurate at this time, the first moving module can be moved so that the first detection head is aligned with a certain position of the object to be treated, and the movement information of the first moving module is recorded, and the movement information includes the movement direction and the movement amount in each movement direction. After the position of the first detection head changes, it is necessary to turn on the treatment head and refocus the focus of the treatment head, that is, move the second moving module so that the focus of the treatment head coincides with the center point of the image detected by the first detection head, and record the movement information of the second moving module; the coincidence of the focus and the center point of the image can ensure that the subsequent focus moves within the treatment area.

[0064] In step S10, regarding how to obtain the first cross-sectional image of the object to be treated detected by the first detection head, one way is to obtain the first cross-sectional image of the object to be treated detected by the first detection head at a fixed position, and another way is to obtain the first cross-sectional image of the object to be treated detected by the first detection head at different positions. The object to be treated may be a specific blood vessel, joint, fallopian tube, tumor, etc.

[0065] In step S11, a two-dimensional coordinate system is constructed for the first cross-sectional image. The two-dimensional coordinate system can be a coordinate origin with the center of the end face of the first detection head, the y-axis is parallel to the direction of the detection wave emitted by the detection head to the object to be treated, and the x-axis is parallel to the length direction of the end face of the first detection head. Since the first cross-sectional image contains tissues or organs around the object to be treated, it is necessary to outline the treatment area. If the object to be treated is a tumor, it is necessary to outline the tumor area in the first cross-sectional image; as for how to outline the treatment area in the first cross-sectional image, it can be in response to a doctor or technician using professional software tools, such as a mouse or a stylus, to directly outline the outline of the treatment area on the image, or automatically identify and outline the treatment area through an existing algorithm. The embodiment of the present application does not specifically limit the treatment path generated in the treatment area. The treatment path can be a plurality of treatment line segments distributed in the treatment area, or it can be a plurality of treatment points distributed in the treatment area; the treatment line segments and treatment points can be evenly distributed in the treatment area, so as to ensure that the treatment area is evenly irradiated, so that the prodrug is evenly activated at the tumor site, and the treatment effect is improved.

[0066] In step S12, before the second moving module is driven according to the target position and the treatment path, the focus of the treatment head coincides with the image center point of the first cross-sectional image, and the initial target position of the focus in the two-dimensional coordinate system can be determined. For example, the image length of the first cross-sectional image is 38.2 mm and the width is 40 mm, so the center point is (19.1, 20), and the initial target position of the focus is (19.1, 20). As the focus moves, its target position will also change accordingly.

[0067] In step S13, the focus is moved to the starting point of the treatment path according to the initial target position of the focus, and then the target position of the focus is the starting point of the treatment path. The focus moves along the treatment path to the end point of the treatment path, and the treatment area is irradiated by the treatment head.

[0068] The present application provides a control method for a treatment device, the treatment device includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head. The control method includes: after the focus of the treatment head coincides with the center point of the image detected by the first detection head, a first cross-sectional image of the object to be treated detected by the first detection head is obtained; a two-dimensional coordinate system is constructed for the first cross-sectional image, a treatment area in the first cross-sectional image is outlined, and a treatment path is generated in the treatment area; a target position of the focus of the treatment head in the two-dimensional coordinate system is determined; and the second moving module is driven according to the target position and the treatment path so that the focus of the treatment head moves along the treatment path. After the focus of the treatment head coincides with the center point of the image detected by the first detection head, a first cross-sectional image of the object to be treated detected by the first detection head is obtained, the focus and the treatment area of ​​the object to be treated are in the same plane, when the focus moves along the treatment path in the treatment area, the focus of the treatment head is always located on the object to be treated, effectively avoiding the normal tissue next to the object to be treated from being irradiated, and the focus moves along the treatment path in the treatment area for treatment, which can increase the irradiation range, more prodrugs can be activated, and the treatment effect is improved.

[0069] Based on the above embodiments, the embodiment of the present application obtains a first cross-sectional image of an object to be treated detected by a first detection head, including: determining the relative position of the first detection head and the treatment head; driving the first moving module and the second moving module at the same time, so that the first detection head and the treatment head move synchronously in a straight line in a first target direction, and keep the relative position unchanged; wherein the first target direction is perpendicular to the cross section of the object to be treated corresponding to the first cross-sectional image; obtaining the cross-sectional image detected by the first detection head in real time, and pausing the first moving module and the second moving module at the same time when the treatment area area in the cross-sectional image is less than the first preset area; setting the moving step length of the first detection head each time, and continuing to drive the first moving module and the second moving module, so that the first detection head and the treatment head move synchronously in a straight line along the second target direction with the moving step length; wherein the second target direction and the first target direction are two opposite directions on the same straight line; controlling the first moving module and the second moving module to stay for a preset time period after each movement of the set moving step length, and obtaining the first cross-sectional image detected by the first detection head in the preset time period, until the treatment area area in the first cross-sectional image detected by the first detection head is less than the second preset area, and pausing the first moving module and the second moving module at the same time.

[0070] In the embodiment of the present application, after the focus of the treatment head coincides with the center point of the image detected by the first detection head, the relative position of the first detection head and the treatment head can be determined. When the first detection head does not move, the first detection head can only detect the first cross-sectional image containing a certain cross-section of the object to be treated. By driving the first detection head to move in the vertical direction of the cross-section of the object to be treated corresponding to the first cross-sectional image, the first cross-sectional images corresponding to different points in the vertical direction can be obtained. The object to be treated has a certain length in the vertical direction. In order to obtain the first cross-sectional images at different positions on the length as completely as possible, the first detection head can be driven to one end close to the length, and then the first detection head can be moved step by step from one end close to the length to the other end close to the length. Each step of movement stays for a preset time period. The first detection head takes a first cross-sectional image of the position within the preset time. The first cross-sectional image can be taken once, or multiple images can be taken within the preset time period. When the first detection head moves in the first target direction, the cross-sectional image detected by the first detection head gradually approaches the edge of one end of the object to be treated, and the area of ​​the treatment area in the cross-sectional image becomes smaller and smaller. When the area of ​​the treatment area is less than the first preset area, it means that the first detection head moves to one end close to the object to be treated, and then the first detection head moves along the second target direction opposite to the first target direction according to the set moving step length, that is, moves to the other end of the object to be treated. In the process of moving along the second target direction, the first cross-sectional image detected by the first detection head after each set moving step length is obtained. In the process of moving in the second target direction, the first detection head and the treatment head always keep the relative position unchanged to ensure that the focus of the treatment head is always on the same plane as the treatment area in each first cross-sectional image. For each first cross-sectional image obtained by moving one step, the following steps are entered: outlining the treatment area in the first cross-sectional image and generating a treatment path in the treatment area; determining the target position of the focus of the treatment head in the two-dimensional coordinate system; driving the second moving module according to the target position and the treatment path to move the focus of the treatment head along the treatment path. After the focus of the treatment head moves along the treatment path, the second moving module can be driven to return the treatment head to its original position to ensure that the relative position of the treatment head and the first detection head remains unchanged, and then the first detection head and the treatment head are synchronously driven to continue moving the set moving step in the second target direction, and so on, until the area of ​​the treatment area in the first cross-sectional image detected by the first detection head is smaller than the second preset area, and the first moving module and the second moving module are paused at the same time.

[0071] The embodiment of the present application acquires first cross-sectional images at different positions in the second target direction, and the treatment head can irradiate treatment areas at different positions in the second target direction, further increasing the irradiation range of the treatment head on the object to be treated.

[0072] Based on the above embodiments, the embodiments of the present application drive the second mobile module according to the target position and the treatment path to move the focus of the treatment head along the treatment path, including: generating a breathing following frame in a two-dimensional coordinate system; wherein the breathing following frame includes the target contour of the treatment area in the first cross-sectional image; determining the center of mass coordinates of the treatment area according to the target contour in the breathing following frame; determining the change in the center of mass position of the treatment area according to the center of mass coordinates at each time point; correcting the treatment path in real time according to the change in the center of mass position; and driving the second mobile module according to the target position and the corrected treatment path to move the focus of the treatment head along the corrected treatment path.

[0073] Figure 2 A schematic diagram including a breathing follow-up frame provided in an embodiment of the present application is as follows: Figure 2 As shown, Figure 2 The yellow rectangular box in the middle is the breathing follow-up box, and the red outline box is the target outline. After the treatment path is generated in the treatment area of ​​the first cross-sectional image corresponding to the target moment, a new first cross-sectional image is acquired in real time after the target moment, and the new first cross-sectional image can be recorded as the target first cross-sectional image. If the breathing or movement of the organism to be tested changes the position of the object to be treated relative to the first detection head, the position of the target outline in the breathing follow-up box will change in real time. According to the target outline in the breathing follow-up box at each time point after the target moment, the centroid coordinates of the treatment area at each time point can be determined. According to the centroid coordinates at each time point, the change in the centroid position of the treatment area can be determined. According to the change in the centroid position, the treatment path is corrected in real time, so that when the focus of the treatment head moves along the corrected treatment path, it can be ensured that the focus of the treatment head will not move outside the treatment area due to the change in the position of the object to be treated. The embodiment of the present application mainly takes into account the tumor located in the lungs, which will change position with the respiratory movement of the object to be tested. By correcting the treatment path in real time, the focus of the treatment head can be ensured to move in the treatment area as much as possible.

[0074] As to how to correct the treatment path in real time according to the change of the center of mass position, the following example is given. The change of the center of mass position is determined according to the center of mass coordinates corresponding to the first time point and the center of mass coordinates corresponding to the second time point. The change of the center of mass position is 0.2 mm in the positive direction of the x-axis of the two-dimensional coordinate system and 0.3 mm in the negative direction of the y-axis of the two-dimensional coordinate system. The treatment path corresponding to the first time point is translated by 0.2 mm in the positive direction of the x-axis of the two-dimensional coordinate system and by 0.3 mm in the negative direction of the y-axis of the two-dimensional coordinate system, and the corrected treatment path corresponding to the second time point can be obtained.

[0075] Regarding how to drive the second movable module according to the target position and the corrected treatment path so that the focus of the treatment head moves along the corrected treatment path, specifically: determine the first target position of the focus of the treatment head at the current time point, move the focus of the treatment head to the second target position on the current treatment path at the next time point, determine the corrected coordinates of the second target position in the two-dimensional coordinate system according to the corrected treatment path, and drive the second movable module according to the coordinates of the first target position in the two-dimensional coordinate system and the corrected coordinates of the second target position so that the focus of the treatment head moves along the corrected treatment path.

[0076] Based on the above embodiments, an embodiment of the present application determines the centroid coordinates of the treatment area according to the target contour in the breathing following box, including: converting the image in the breathing following box into a grayscale image; converting the grayscale image into a binary image; extracting the target contour in the binary image; calculating the first-order moment of the binary image according to the target contour; and determining the centroid coordinates of the treatment area according to the first-order moment.

[0077] The embodiment of the present application extracts the target contour in the binary image, and an edge detection or contour tracking algorithm may be used. The first-order moment is a geometric property of the treatment area, and the first-order moment is directly related to the centroid.

[0078] Center of mass coordinates (x 质心 ,y 质心 ), calculated by the following formula:

[0079] x 质心 =M 10 / M 00

[0080] y 质心 =M 01 / M 00

[0081] Among them, M 10 is the first moment about the y-axis, M 01 is the first moment about the x-axis, M 00 is the total area (or zeroth-order moment) of the breath-following box.

[0082] Based on the above embodiments, the treatment device of the embodiment of the present application also includes a second detection head. When the second movable module is driven according to the target position and the treatment path, it also includes: acquiring in real time a second cross-sectional image of the object to be treated detected by the second detection head; wherein the cross-sectional image of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-sectional image of the object to be treated corresponding to the first cross-sectional image in the object to be treated; determining the displacement of the object to be treated in a third target direction according to the second cross-sectional image, and the third target direction is perpendicular to the cross-sectional image of the object to be treated corresponding to the first cross-sectional image; and driving the second movable module according to the displacement to move the treatment head along the third target direction.

[0083] The above embodiment can only determine the position change of the treatment area in the two-dimensional coordinate system at different times based on the first cross-sectional image acquired in real time. By adding a second detection head to detect the second cross-sectional image, in the object to be treated, the cross section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross section of the object to be treated corresponding to the first cross-sectional image. Based on the second cross-sectional image acquired in real time, the position change of the treatment area in the first cross-sectional image in the direction perpendicular to the treatment area can be determined, so that the position change of the treatment area can be determined in the three-dimensional direction, further improving the focus of the treatment head during the movement on the treatment area, and will not irradiate the normal tissue next to the object to be treated.

[0084] Based on the above embodiments, Figure 3 A schematic diagram of a treatment path in a treatment area provided in an embodiment of the present application, such as Figure 3 As shown, the embodiment of the present application generates a treatment path in the treatment area, including: determining the treatment line distance, generating multiple parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the treatment line distance; wherein the endpoints of both ends of each treatment line segment are located on the contour of the treatment area; and setting the treatment time of each treatment line segment. Of course, the irradiation intensity of the treatment head can also be set.

[0085] Figure 3 The yellow line segment in the figure is a treatment line segment, and the treatment line segment is parallel to the y-axis in the two-dimensional coordinate system. Of course, the treatment line segment can also be parallel to the x-axis in the two-dimensional coordinate system. Furthermore, before setting the treatment time of each treatment line segment, it also includes: if the number of treatment line segments in the treatment area is greater than the first set value, it means that the treatment line segments in the treatment area are too dense, and the treatment line spacing can be increased, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area according to the increased treatment line spacing; if the number of treatment line segments in the treatment area is less than the second set value, it means that the treatment line segments in the treatment area are too sparse, and the treatment line spacing can be reduced, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area according to the reduced treatment line spacing. Reasonable planning of the treatment path and treatment time of the focus can achieve spatiotemporally controllable prodrug activation, thereby improving the accuracy and effectiveness of the treatment and reducing damage to normal tissues.

[0086] In order to better understand the control method of the treatment device, a control method is further introduced below, where the object to be treated is a tumor.

[0087] Figure 4 A schematic diagram of the positional relationship between two detection heads and a treatment head provided in an embodiment of the present application is shown below. Figure 4 The position relationship between the two detection heads and the treatment head in the present invention introduces the control method of the treatment device. Of course, the position relationship between the two detection heads and the treatment head is not limited to Figure 4 One of them. Figure 4 As shown, for the convenience of description, a three-dimensional coordinate system is first constructed. The coordinate origin o of the three-dimensional coordinate system is a certain point on the tumor, the y-axis of the three-dimensional coordinate system is parallel to the direction of the detection wave emitted by the first detection head, the x-axis of the three-dimensional coordinate system is parallel to the direction of the detection wave emitted by the second detection head, and the z-axis of the three-dimensional coordinate system is parallel to the direction of the treatment wave emitted by the treatment head. The first cross-sectional image detected by the first detection head is the xoy surface in the three-dimensional coordinate system, and the second cross-sectional image detected by the second detection head is the xoz surface in the three-dimensional coordinate system.

[0088] Step 1: Initialize and focus the treatment device so that the cross-sectional image acquired by the first detection head includes the tumor area and the focus of the treatment head coincides with the center point of the cross-sectional image. Record the relative position of the first detection head and the treatment head.

[0089] Step 2: Synchronously drive the first moving module and the second moving module to move the first detection head and the treatment head along the positive direction of the z-axis in the three-dimensional coordinate system. When the area of ​​the tumor region in the cross-sectional image detected by the first detection head is smaller than the first preset area, simultaneously stop driving the first moving module and the second moving module. After the first detection head and the treatment head stop moving, the relative positions of the first detection head and the treatment head remain unchanged.

[0090] Step 3: Set the moving step length of the first detection head each time, and synchronously drive the first moving module and the second moving module, so that the first detection head and the treatment head move the set moving step length along the negative direction of the z-axis in the three-dimensional coordinate system, and stay for a preset time period after the first detection head and the treatment head move the set moving step length.

[0091] Step 4: Obtain a first cross-sectional image detected by the first detection head at a target time point within a preset time period, and construct a two-dimensional coordinate system for the first cross-sectional image. The origin of the two-dimensional coordinate system is the center point of the end face of the first detection head ( Figure 4 The x-axis of the two-dimensional coordinate system is parallel to the length direction of the end face of the first detection head 1, and the y-axis of the two-dimensional coordinate system is parallel to the direction of the detection wave emitted by the first detection head.

[0092] Step 5: Outline the tumor area in the first section image in the two-dimensional coordinate system, generate a breathing follow-up frame in the two-dimensional coordinate system, and generate a treatment path in the tumor area. In the process of the focus of the treatment head moving along the treatment path, the target first section image after the target time point is acquired in real time, the center of mass coordinates of the tumor area corresponding to each time point are determined according to the tumor contour in the breathing follow-up frame at each time point, the change in the center of mass position of the tumor area is determined according to the center of mass coordinates at each time point, the treatment path is corrected in real time according to the change in the center of mass position, and the second moving module is driven to move the focus of the treatment head along the corrected treatment path. While the focus of the treatment head is moved along the corrected treatment path, the second section image of the tumor detected by the second detection head is acquired in real time, the displacement of the tumor in the z-axis direction in the three-dimensional coordinate system is determined according to the second section image, and the second moving module is driven according to the displacement to move the focus of the treatment head in the z-axis direction in the three-dimensional coordinate system.

[0093] Step 6: After step 5 is completed, that is, after the treatment head completes a mobile irradiation of the treatment area, the second moving module is driven to keep the relative position of the treatment head and the first detection head unchanged.

[0094] Step 7: Continue to synchronously drive the first moving module and the second moving module, and the first detection head and the treatment head continue to move in the opposite direction of the z-axis in the three-dimensional coordinate system for the set moving step length and stay for a preset time period. Repeat steps 4, 5, 6 and 7 in sequence until the area of ​​the tumor region in the first cross-sectional view detected by the first detection head is smaller than the second preset area, and then pause the first moving module and the second moving module at the same time, and the treatment ends.

[0095] Figure 5 A schematic diagram of an embodiment of the present application including two detection heads, a treatment head and three moving modules is provided. Figure 6 A structural diagram of a treatment head and a second movable module provided in an embodiment of the present application, such as Figure 5 and Figure 6 As shown, the treatment system includes: a first detection head 1, a treatment head 2, a first movable module 4 connected to the first detection head 1, a second movable module 5 connected to the treatment head 2, and a control device; the first detection head 1 is used to detect a first cross-sectional image of the object to be treated, the treatment head 2 is used to irradiate the object to be treated, the control device is respectively connected to the first detection head 1, the treatment head 2, the first movable module 4 and the second movable module 5, and the control device is used to execute the steps of the control method of the treatment device. Figure 7 A structural diagram of a second detection head and a third moving module provided in an embodiment of the present application, such as Figure 5 and Figure 7As shown, the treatment system also includes a second detection head 3 and a third movable module 6 connected to the second detection head 3, the third movable module 6 is connected to the control device, the second detection head 3 is used to detect a second cross-sectional image of the object to be treated, and the cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated.

[0096] The embodiments of the present application do not specifically limit the treatment head and the detection head. The treatment head 2 can be a probe that emits ultrasound, X-rays, far infrared light, neutron beams, proton beams, particle beams or laser beams. The first detection head 1 and the second detection head 3 can use ultrasound probes, nuclear magnetic resonance imaging probes, X-ray probes and computer tomography probes (CT probes). The first moving module 4, the second moving module 5 and the third moving module 6 in the embodiments of the present application can all use three-dimensional moving modules, which can be composed of three nut-screw mechanisms. The nut-screw mechanism includes a motor, a screw and a nut. The motor is connected to the screw to drive the screw to rotate. The nut is threadedly connected to the screw. The rotation of the screw can drive the nut to move along the length direction of the screw.

[0097] Figure 8 A structural diagram of a treatment system provided in an embodiment of the present application, such as Figure 8 As shown, the control device may include a B-scan ultrasonography machine 8 and an industrial computer 9; wherein B-scan ultrasonography is also called two-dimensional ultrasound or grayscale ultrasound. The B-scan ultrasonography machine 8 is connected to the first detection head 1, the second detection head 3 and the industrial computer 9 respectively. The B-scan ultrasonography machine 8 sends the acquired first cross-sectional image and second cross-sectional image to the industrial computer 9 in real time. The industrial computer 9 is connected to the first mobile module 4, the second mobile module 5, the third mobile module 6 and the treatment head 2 respectively. The industrial computer 9 can also receive control instructions sent by the B-scan ultrasonography machine 8. Figure 8 As shown, the treatment system also includes a mounting vehicle 10 and a medium box 11 mounted on the mounting vehicle 10. The control device, the first mobile module 4, the second mobile module 5 and the third mobile module 6 are all mounted on the mounting vehicle 10; the first mobile module 4, the second mobile module 5 and the third mobile module 6 are all placed outside the medium box 11, and the treatment head 2, the first detection head 1 and the second detection head 3 are all located in the medium in the medium box 12. The medium can be water, a deformable capsule material and a coupling agent, etc.; coupling patches can also be attached to the treatment head 2, the first detection head 1 and the second detection head 3, so that the medium box 11 carrying the medium can be omitted. Figures 5 to 8 As shown, the treatment head 2, the first detection head 1 and the second detection head 3 can be connected to the corresponding movable modules through the U-connector 7, and one end of the U-connector 7 extends into the medium box 11 through the top opening of the medium box 11. The organism to be treated can be fixed by the corresponding fixing device 12, and the object to be treated of the organism to be treated is located in the medium of the medium box 11.

[0098] A treatment system provided by an embodiment of the present application includes: a first detection head, a treatment head, a first movable module connected to the first detection head, a second movable module connected to the treatment head, and a control device; the first detection head is used to detect a first cross-sectional image of an object to be treated, the treatment head is used to irradiate the object to be treated, the control device is respectively connected to the first detection head, the treatment head, the first movable module, and the second movable module, and the control device is used to execute the steps of the control method of the above-mentioned treatment device. After the focus of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated detected by the first detection head is acquired, the focus and the treatment area of ​​the object to be treated are in the same plane, when the focus moves along the treatment path in the treatment area, the focus of the treatment head is always located on the object to be treated, effectively avoiding the normal tissue next to the object to be treated from being irradiated, and the focus moves along the treatment path in the treatment area for treatment, which can increase the irradiation range, more prodrugs can be activated, and the treatment effect is improved.

[0099] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the control method of the treatment device in the above method embodiment are implemented.

[0100] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0101] The control method, treatment system and medium of a treatment device provided by the present application are described in detail above. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0102] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for a treatment device, the treatment device comprising a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head, characterized in that: include: After the focus of the treatment head coincides with the center point of the image detected by the first detection head, acquiring a first cross-sectional image of the object to be treated detected by the first detection head; constructing a two-dimensional coordinate system for the first cross-sectional image, outlining a treatment area in the first cross-sectional image, and generating a treatment path in the treatment area; Determining a target position of the focus of the treatment head in the two-dimensional coordinate system; The second moving module is driven according to the target position and the treatment path, so that the focus of the treatment head moves along the treatment path.

2. The control method of the treatment device according to claim 1, characterized in that: Acquiring a first cross-sectional image of the object to be treated detected by the first detection head, comprising: Determining the relative position of the first detection head and the treatment head; Simultaneously driving the first moving module and the second moving module to make the first detection head and the treatment head move synchronously and linearly in a first target direction while keeping the relative positions unchanged; wherein the first target direction is perpendicular to the cross section of the object to be treated corresponding to the first cross-sectional image; Acquire the cross-sectional image detected by the first detection head in real time, and when the treatment area in the cross-sectional image is smaller than a first preset area, suspend the first moving module and the second moving module at the same time; Setting the moving step length of the first detection head each time, and continuing to drive the first moving module and the second moving module, so that the first detection head and the treatment head move synchronously and linearly along the second target direction with the moving step length; wherein the second target direction and the first target direction are two opposite directions on the same straight line; The first movable module and the second movable module are controlled to stay for a preset time period after each movement of the moving step, and the first cross-sectional image detected by the first detection head is acquired during the preset time period, until the treatment area in the first cross-sectional image detected by the first detection head is smaller than a second preset area, and the first movable module and the second movable module are paused at the same time.

3. The control method of the treatment device according to claim 2, characterized in that: Driving the second moving module according to the target position and the treatment path so that the focus of the treatment head moves along the treatment path includes: Generate a breathing follow-up frame in the two-dimensional coordinate system; wherein the breathing follow-up frame includes a target contour of the treatment area in the first cross-sectional image; Determining the centroid coordinates of the treatment area according to the target contour in the breathing following frame; Determine the change in the center of mass position of the treatment area according to the center of mass coordinates at each time point; Correcting the treatment path in real time according to the change in the center of mass position; The second moving module is driven according to the target position and the corrected treatment path, so that the focus of the treatment head moves along the corrected treatment path.

4. The control method of the treatment device according to claim 3, characterized in that: Determining the centroid coordinates of the treatment area according to the target contour in the breathing following frame includes: Converting the image in the breathing following box into a grayscale image; Converting the grayscale image into a binary image; Extracting the target contour in the binary image; Calculate the first-order moment of the binary image according to the target contour; The centroid coordinates of the treatment area are determined according to the first-order moment.

5. The control method of the treatment device according to claim 3, characterized in that: The treatment device further includes a second detection head, which drives the second moving module according to the target position and the treatment path, and further includes: Acquire in real time a second cross-sectional image of the object to be treated detected by the second detection head; wherein the cross-sectional area of ​​the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-sectional area of ​​the object to be treated corresponding to the first cross-sectional image; determining a displacement of the object to be treated in a third target direction according to the second cross-sectional image, wherein the third target direction is perpendicular to a cross-sectional area of ​​the object to be treated corresponding to the first cross-sectional image; The second moving module is driven according to the displacement to move the treatment head along the third target direction.

6. The control method of the treatment device according to claim 1, characterized in that: Generating a treatment path in the treatment area includes: Determine a treatment line distance, and generate a plurality of mutually parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the treatment line distance; wherein the endpoints of both ends of each treatment line segment are located on the contour of the treatment area; The treatment time of each treatment line segment is set.

7. The control method of the treatment device according to claim 6, characterized in that: Before setting the treatment time of each treatment line segment, the method further includes: If the number of treatment line segments in the treatment area is greater than a first set value, increase the treatment line distance, and regenerate a plurality of mutually parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the increased treatment line distance; If the number of treatment line segments in the treatment area is less than a second set value, the treatment line distance is reduced, and a plurality of parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area according to the reduced treatment line distance.

8. A treatment system, characterized in that: include: A first detection head, a treatment head, a first movable module connected to the first detection head, a second movable module connected to the treatment head, and a control device; The first detection head is used to detect a first cross-sectional image of the object to be treated, the treatment head is used to irradiate the object to be treated, the control device is respectively connected to the first detection head, the treatment head, the first movable module and the second movable module, and the control device is used to execute the steps of the control method of the treatment device according to claim 1.

9. The treatment system according to claim 8, characterized in that It also includes a second detection head and a third movable module connected to the second detection head, the third movable module is connected to the control device, the second detection head is used to detect a second cross-sectional image of the object to be treated, and the cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the control method of the treatment device according to any one of claims 1 to 7 are implemented.

Images